Embedded software and hardware development
STM32-based firmware, sensor integration, AHRS / magnetometer / accelerometer calibration and real-time embedded systems: hardware and software designed together.
In embedded systems, hardware and software cannot be designed apart: microcontroller selection, power budget, sensor interfaces and timing requirements directly shape the firmware architecture. In this area circuit design, PCB prototype production and firmware development are carried out by the same team, so hardware–software interface problems are solved at the design stage.
The work targets defence and industrial applications, where long-term stable operation, defined response times and ease of field maintenance come first.
STM32-based firmware
Bare-metal and RTOS-based firmware is developed for the ARM Cortex-M STM32 family. Peripherals (UART, SPI, I2C, CAN, USB, Ethernet), DMA and the interrupt structure are arranged around the application's timing requirements; bootloader and in-field update support, watchdog and fault-recovery mechanisms are part of the design.
Sensor integration
MEMS inertial sensors, magnetometers, pressure and temperature sensors, GNSS receivers and custom analog front ends are connected to the system over digital interfaces. Sensors are selected by measurement band, noise density and environmental conditions; sampling timing, filtering and data-integrity checks are handled at firmware level.
Sensor fusion and calibration (AHRS, magnetometer / accelerometer)
Gyroscope, accelerometer and magnetometer data are combined to estimate orientation (AHRS). Hard-iron / soft-iron calibration for magnetometers, offset and scale calibration for accelerometers, modelling of temperature-dependent drift and filter design (complementary, Kalman) fall within this scope. Calibration procedures are defined so that they are repeatable in production.
Real-time systems
Applications with timing requirements are designed by measuring interrupt latency, task prioritisation and bus load. Task separation, lock-free data structures and deterministic memory management are applied on RTOS-based systems; a time-sliced main loop on bare-metal systems. The result is a system whose worst-case response time is defined and verified.
Related products and services
Embedded Software and Application Development
- Firmware design for FPGAs and microcontrollers
- Computer interface software design
PCB Design
- High-precision analog circuit design
- High-speed circuit design
- FPGA- and microcontroller-based circuit design
PCB Prototype Production and Testing
- Component assembly and testing for PCBs
PAP Submarine Orientation Gyroscope
- Modernisation of a legacy mechanical-gyroscope system
- Fibre-optic gyroscope based
- Accuracy better than 1 °/h
- Synchro interface
Related technical notes
Magnetometer calibration: hard-iron and soft-iron correction by ellipsoid fitting
Three-axis magnetometer calibration: measurement model, ellipsoid fitting, identifiability limits, data coverage, heading error budget and validation.
Gyro-free AHRS: theoretical limits and observability of accelerometer–magnetometer fusion
Attitude from accelerometer and magnetometer only: Wahba/QUEST covariance, magnetic inclination, linear-acceleration ambiguity, error budget, validation.
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